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A novel approach to control four multi-rotor drones in cooperative paired control using relative Jacobian

Published online by Cambridge University Press:  05 July 2023

Keletso Z. Thebe Open the ORCID record for Keletso Z. Thebe [Opens in a new window] ,
Rodrigo S. Jamisola Jr. Open the ORCID record for Rodrigo S. Jamisola Jr. [Opens in a new window]  and
Larona P. Ramalepa
Keletso Z. Thebe*
Affiliation:
Department of Mechanical, Energy and Industrial Engineering, Faculty of Engineering and Technology, Botswana International University of Science and Technology, Palapye, Botswana
Rodrigo S. Jamisola Jr.
Affiliation:
Department of Mechanical, Energy and Industrial Engineering, Faculty of Engineering and Technology, Botswana International University of Science and Technology, Palapye, Botswana
Larona P. Ramalepa
Affiliation:
Department of Mechanical, Energy and Industrial Engineering, Faculty of Engineering and Technology, Botswana International University of Science and Technology, Palapye, Botswana
*
Corresponding author: Keletso Z. Thebe; Emails: tk19100045@studentmail.biust.ac.bw, kkelkeletso@hotmail.com
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Abstract

This work presents a new formulation to holistically control four cooperative multi-rotor drones controlled in two pairs. This approach uses a modular relative Jacobian with components consisting of the Jacobians of each individual drone. This type of controller relies mainly on the relative motion between the drones, consequently releasing unnecessary constraints inherent to the control of drones in absolute motion. We present the derivations of all the necessary equations of the modular relative Jacobian to control the four multi-rotor drones. We also present the derivations of the Jacobian for each drone. We implement our proposed method in the Gazebo RotorS simulation using four hexa-rotor drones modeled from Ascending Technologies called firefly drones. We present the simulation results and analyze them to show the effectiveness of our proposed approach.

Keywords

cooperative dronesrelative Jacobianholistic controlpaired controlJacobian-based controlrotorS gazebo
Type
Research Article
Information
Robotica , Volume 41 , Issue 10 , October 2023 , pp. 3004 - 3021
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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